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Interactive Floor Mapping with Depth Sensors

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Advances in Usability, User Experience, Wearable and Assistive Technology (AHFE 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 275))

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Abstract

Simultaneous Localization and Mapping (SLAM) algorithms have been growing popular in indoor navigation and mapping. However, it often fails in many real-world environments, such as low-lighting, fast motion, featureless walls, and large buildings. There are also usability issues with the 3D point clouds for actual indoor localization and mapping for humans and autonomous robots. In this study, we use depth sensor to generate 3D point cloud and then register that to the 2D building floor plan or footprint. We extract the ground plane from the point cloud and create a 2D point cloud and contours to be registered to the map. The experiments show that 2D map is more intuitive than 3D point cloud. Furthermore, the contour map reduces computational time in orders of magnitude. We also developed a graphical user interface to enable the user to register the 2D point cloud interactively. It is a new way to use SLAM data. Our case studies in large office buildings demonstrate that this approach is simple, intuitive, and effective to enhance the localization and mapping in the real-world.

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Acknowledgment

The author would like to thank the discussions with Scott Ledgewood, Neta Ezer, Nick Molino, Justin Vivirito, Dennis Fortner, and Mel Siegel. The author is grateful for the support from NIST PSCR and PSIAP and Northrop Grumman Corporation.

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Authors and Affiliations

  1. Carnegie Mellon University, Pittsburgh, USA

    Yang Cai & Uma Arunachalam

Authors
  1. Yang Cai
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  2. Uma Arunachalam
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Correspondence to Yang Cai .

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Editors and Affiliations

  1. Institute for Advanced Systems Engineering, University of Central Florida, Orlando, FL, USA

    Tareq Z. Ahram

  2. Doctorate Researcher in Design, Recife-PE, Brazil

    Christianne S. Falcão

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Cai, Y., Arunachalam, U. (2021). Interactive Floor Mapping with Depth Sensors. In: Ahram, T.Z., Falcão, C.S. (eds) Advances in Usability, User Experience, Wearable and Assistive Technology. AHFE 2021. Lecture Notes in Networks and Systems, vol 275. Springer, Cham. https://doi.org/10.1007/978-3-030-80091-8_3

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  • DOI: https://doi.org/10.1007/978-3-030-80091-8_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-80090-1

  • Online ISBN: 978-3-030-80091-8

  • eBook Packages: EngineeringEngineering (R0)

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